version: 66.10
glider: 176
mission: 5
dive: 231
start: 4 28 112 9 48 58
data:
$ID,176
$MISSION,5
$DIVE,231
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,440
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51719
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7737.2856
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2514
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2610
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2929
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.662712
$PRESSURE_SLOPE,0.0001162977
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,280412,094055,1800.091,12352.925,37,2.0,37,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.4
$GPS2,280412,094832,1800.041,12353.005,14,1.1,14,-2.0
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,S1
$TGT_LATLONG,1831.410,12216.350
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,297.2,179399,-13.1,-7.500
$D_GRID,4590
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.51,-146.0,0.0,0.0,0,54,0.00,0.00,-35.65,0.000,2,0.000,0.000,185,2697,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.51,-146.0,3.0,-5.9,6,106,8.75,2.25,-29.80,0.000,4,0.233,0.040,2348,1157,3527,0,0,0,0,0,0,25.36,26.21,26.58
$GC,273,-0.51,-146.0,51.4,-23.1,44,281,0.08,2.22,0.00,0.000,6,0.200,0.044,2355,2630,3527,0,0,0,0,0,0,26.06,26.21,28.83
$GC,586,-0.51,-146.0,141.3,-26.2,105,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2630,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,902,-0.51,-146.0,213.9,-21.3,161,911,0.00,2.10,0.00,0.000,4,0.000,0.025,2354,1151,3527,0,0,0,0,0,0,28.83,26.49,28.83
$GC,994,-0.51,-146.0,227.2,-12.9,170,1003,0.00,2.22,0.00,0.000,6,0.000,0.042,2348,2637,3527,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1305,-0.51,-146.0,283.1,-18.1,201,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2637,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1605,-0.51,-146.0,336.5,-15.8,231,1615,0.00,2.10,0.00,0.000,4,0.000,0.024,2348,1153,3527,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1700,-0.51,-146.0,349.1,-11.2,240,1707,0.00,2.25,0.00,0.000,6,0.000,0.045,2345,2624,3527,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2008,-0.51,-146.0,390.9,-14.0,271,2017,0.00,2.10,0.00,0.000,4,0.000,0.025,2345,1149,3524,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2040,-0.51,-146.0,395.1,-13.3,274,2049,0.05,2.22,0.00,0.000,6,0.225,0.047,2358,2632,3524,0,0,0,0,0,0,26.27,26.38,28.83
$GC,2350,-0.51,-146.0,429.1,-11.0,305,2354,0.00,1.70,0.00,0.000,4,0.000,0.050,2349,3779,3522,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2383,-0.51,-146.0,432.8,-11.7,308,2393,0.00,1.73,0.00,0.000,6,0.000,0.022,2349,2515,3522,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2691,-0.51,-146.0,467.1,-11.3,339,2695,0.00,1.92,0.00,0.000,4,0.000,0.026,2349,1151,3519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2751,-0.51,-146.0,473.0,-10.1,344,2758,0.00,2.25,0.00,0.000,6,0.000,0.047,2347,2633,3519,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3058,-0.51,-146.0,504.7,-10.7,375,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2633,3517,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3361,-0.51,-146.0,537.0,-11.2,405,3370,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1156,3514,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3405,-0.51,-146.0,541.6,-10.3,409,3412,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2630,3515,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3714,-0.51,-146.0,573.3,-10.5,440,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2630,3512,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4024,-0.51,-146.0,605.0,-9.9,469,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2631,3510,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4324,-0.51,-146.0,630.5,-7.8,484,4329,0.00,2.10,0.00,0.000,4,0.000,0.026,2347,1153,3507,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4378,-0.51,-146.0,633.2,-7.0,486,4384,0.00,2.25,0.00,0.000,6,0.000,0.048,2347,2629,3507,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4683,-0.51,-146.0,654.5,-6.9,502,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2629,3504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4984,-0.51,-146.0,676.9,-7.8,517,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2628,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5283,-0.51,-146.0,702.6,-8.8,532,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2629,3499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5584,-0.51,-146.0,726.7,-7.4,547,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2629,3497,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5883,-0.51,-146.0,746.7,-6.2,562,5889,0.00,2.15,0.00,0.000,4,0.000,0.027,2347,1145,3494,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5931,-0.51,-146.0,749.2,-6.2,564,5935,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2630,3495,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6244,-0.51,-146.0,768.5,-6.2,580,6247,0.00,1.75,0.00,0.000,4,0.000,0.057,2344,3773,3492,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6267,-0.51,-146.0,769.9,-6.3,581,6271,0.00,1.75,0.00,0.000,6,0.000,0.024,2344,2499,3491,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6585,-0.51,-146.0,791.5,-7.1,597,6591,0.00,1.98,0.00,0.000,4,0.000,0.056,2343,3766,3489,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6614,-0.51,-146.0,792.9,-7.1,598,6617,0.00,1.73,0.00,0.000,6,0.000,0.024,2344,2497,3488,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6925,-0.51,-146.0,817.3,-7.6,614,6931,0.00,2.03,0.00,0.000,4,0.000,0.054,2337,3768,3487,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6978,-0.51,-146.0,820.7,-8.1,616,6985,0.03,1.75,0.00,0.000,6,0.079,0.024,2364,2489,3486,0,0,0,0,0,0,26.31,26.60,28.83
$GC,7287,-0.51,-146.0,841.4,-6.2,632,7293,0.08,1.98,0.00,0.000,4,0.129,0.053,2301,3765,3486,0,0,0,0,0,0,26.63,26.03,28.83
$GC,7327,-0.51,-146.0,845.2,-7.5,634,7332,0.15,1.75,0.00,0.000,6,0.111,0.024,2358,2503,3485,0,0,0,0,0,0,26.08,26.58,28.83
$GC,7647,-0.51,-146.0,866.1,-6.0,650,7652,0.00,1.98,0.00,0.000,4,0.000,0.056,2357,3778,3484,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7679,-0.51,-146.0,867.3,-5.9,651,7686,0.00,1.75,0.00,0.000,6,0.000,0.024,2358,2467,3484,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7986,-0.51,-146.0,886.2,-5.8,667,7991,0.00,2.03,0.00,0.000,4,0.000,0.055,2358,3763,3482,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8027,-0.51,-146.0,888.6,-5.9,669,8030,0.00,1.73,0.00,0.000,6,0.000,0.025,2357,2504,3482,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8348,-0.51,-146.0,907.8,-6.2,685,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2478,3481,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8649,-0.51,-146.0,927.2,-6.6,700,8653,0.00,2.05,0.00,0.000,4,0.000,0.057,2357,3793,3480,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8691,-0.51,-146.0,930.1,-6.7,702,8695,0.00,1.77,0.00,0.000,6,0.000,0.024,2357,2523,3479,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9014,-0.51,-146.0,950.9,-6.6,718,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2495,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9313,-0.51,-146.0,968.9,-5.9,733,9319,0.00,2.00,0.00,0.000,4,0.000,0.055,2357,3780,3477,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9345,-0.51,-146.0,970.0,-5.8,734,9352,0.00,1.75,0.00,0.000,6,0.000,0.024,2357,2471,3477,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9653,-0.51,-146.0,987.9,-5.7,750,9658,0.00,2.03,0.00,0.000,4,0.000,0.055,2357,3763,3476,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9681,-0.51,-146.0,989.0,-5.6,751,9685,0.00,1.73,0.00,0.000,6,0.000,0.024,2357,2511,3476,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,9710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9710,begin apogee
$GC,9715,-0.17,0.0,991.2,-5.5,753,9840,0.30,0.00,120.65,1.733,6,0.103,0.000,2466,2479,2929,0,0,0,0,0,0,26.03,28.83,23.16
$STATE,9843,end apogee,CONTROL_FINISHED_OK
$STATE,9843,begin climb
$GC,9845,0.51,146.0,994.8,0.0,759,9991,0.60,0.00,142.10,1.690,6,0.049,0.000,2703,2479,2332,0,0,0,0,0,0,24.74,28.83,22.42
$GC,10288,0.51,146.0,947.0,14.4,782,10294,0.12,2.00,0.00,0.000,4,0.189,0.053,2668,3762,2322,0,0,0,0,0,0,25.64,25.77,28.83
$GC,10320,0.51,146.0,944.1,14.4,783,10327,0.00,1.92,0.00,0.000,6,0.000,0.024,2677,2449,2322,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10628,0.51,146.0,905.8,11.7,799,10632,0.00,2.08,0.00,0.000,4,0.000,0.031,2688,1046,2318,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10657,0.51,146.0,903.2,11.7,800,10662,0.08,2.28,0.00,0.000,6,0.196,0.046,2672,2517,2317,0,0,0,0,0,0,25.94,26.07,28.83
$GC,10965,0.51,146.0,867.5,11.2,815,10966,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2517,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11264,0.51,146.0,831.6,12.3,830,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2517,2316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11565,0.51,146.0,793.2,12.7,845,11570,0.00,1.92,0.00,0.000,4,0.000,0.055,2672,3769,2316,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11625,0.51,146.0,784.3,14.5,848,11631,0.00,1.90,0.00,0.000,6,0.000,0.025,2681,2450,2315,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11944,0.51,146.0,741.4,12.9,864,11950,0.00,2.05,0.00,0.000,4,0.000,0.054,2682,3763,2314,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11997,0.51,146.0,735.7,13.3,866,12005,0.10,1.90,0.00,0.000,6,0.209,0.024,2668,2437,2314,0,0,0,0,0,0,26.01,26.40,28.83
$GC,12305,0.51,146.0,701.4,9.6,882,12311,0.00,2.00,0.00,0.000,4,0.000,0.031,2678,1049,2313,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12357,0.51,146.0,697.7,9.3,884,12365,0.00,2.28,0.00,0.000,6,0.000,0.046,2678,2526,2313,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12665,0.51,146.0,667.1,9.4,900,12670,0.00,1.92,0.00,0.000,4,0.000,0.056,2678,3776,2313,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12733,0.51,146.0,660.1,11.0,903,12737,0.08,1.92,0.00,0.000,6,0.228,0.023,2674,2431,2312,0,0,0,0,0,0,26.14,26.44,28.83
$GC,13045,0.51,146.0,625.3,11.4,919,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2427,2312,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19621,end climb,SURFACE_DEPTH_REACHED
$STATE,19621,begin surface coast
$FINISH,0.7,1.011563
$STATE,19659,end surface coast,CONTROL_FINISHED_OK
$STATE,19659,begin surface
$SM_CCo,19734,0.00,0.000,0,0,1334,391.01
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$IRIDIUM_FIX,1751.90,12352.71,280412,030350
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.47
$INTERNAL_PRESSURE,9.5246
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.4,47.277
$10V_AH,10.0,30.083
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.275,146.800,426.775,0.000,0.000,25.114,21.286,254.021,0.000,0.000,17.171,4390.190,11354.479,600.604,3404.052,404.813,0.000,2155.834,0.000,2855.190,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,84.150,1732.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1190.578,2308.010,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329416
$DATA_FILE_SIZE,130437,1748
$CAP_FILE_SIZE,196651,0
$CFSIZE,260165632,200163328
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,125.3,1
$GPS,280412,151901,1800.459,12351.380,38,1.5,38,-2.0